metadata
license: apache-2.0
pretty_name: WhyCode Isaac Sim bags
tags:
- robotics
- ros2
- fiducial-markers
- isaac-sim
- apriltag
- benchmark
WhyCode Isaac Sim bags
ROS 2 bags recorded in Isaac Sim 6.2 to benchmark fiducial marker detectors. A robot drives past markers in a warehouse, and every camera frame comes with the exact ground truth of every marker, so a detector can be replayed against a bag and scored offline.
| Project | What it is |
|---|---|
| whycode | whycode_vision, the WhyCon and WhyCode detector for ROS 2; its README has the results measured on these bags |
| whycode-sim | whycode_sim, the Isaac Sim warehouse scene that recorded them, its ground-truth node and the scoring tools |
| whycode-bench | the Docker setup and scripts that record the bags, replay each detector against them and draw the comparison |
What is here
| Path | Bags |
|---|---|
whycode_bench_bags.zip |
The warehouse loop at 1280x720: one lap of paths A, B and C, and three laps at 0.5, 0.8 and 1.2 m/s, each with WhyCode markers and with AprilTags (0.16 m tags in these) |
benchmark_bags/range_<family>_<640,1280,1920> |
Detection range: a 0.20 and a 0.146 m marker on the camera's axis while the robot drives 41.5 m straight away, with a RealSense D435's colour field of view |
benchmark_bags/angle_<family> |
Viewing angle: one 0.20 m marker, circled at 2, 4 and 6 m with a side camera, 1280x720 |
benchmark_bags/whycon_1lap, benchmark_bags/apriltag_1lap |
Path A with plain WhyCon markers, and with 0.20 m AprilTags |
benchmark_bags/demo_1lap |
Path A with Isaac Sim's chase camera as well, for the demo video |
<family> is whycode, whycon or apriltag. A marker's size is its outer black edge: a
ring's diameter, or a tag's black square.
Inside a bag
MCAP with zstd chunks, logged on sim time at 30 Hz.
| Topic | Type |
|---|---|
/camera/image_raw, /camera/camera_info |
sensor_msgs/Image (rgb8), sensor_msgs/CameraInfo |
/marker_ground_truth |
whycode_sim_msgs/MarkerGroundTruthArray: every marker's pose in the camera frame, range, incidence, apparent size and visibility |
/marker_occlusion |
whycode_sim_msgs/MarkerOcclusion |
/camera_ground_truth, /odom_ground_truth |
nav_msgs/Odometry |
/tf, /tf_static, /clock |
|
/chase_camera/image_raw |
sensor_msgs/Image, in demo_1lap only |
The ground-truth messages are defined in whycode_sim_msgs, part of whycode-sim: build it in your
ROS 2 workspace to read them.
Download and replay
hf download Adyansh/Whycode-isaac-bag --repo-type dataset \
--include "benchmark_bags/range_whycode_1280/*" --local-dir data
ros2 bag play data/benchmark_bags/range_whycode_1280 --clock
Each bag folder holds a metadata.yaml and its .mcap. whycode-bench mounts ./data in its
containers and runs the whole comparison with ./scripts/benchmark.sh evaluate.